Добавление новых функций, возвращение функций subtract_scaled
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26 changed files with 836 additions and 292 deletions
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@ -60,6 +60,34 @@ inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* de
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bgc_fp64_quaternion_convert_to_fp32(&destination->dual_part, &source->dual_part);
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}
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// =================== Revert =================== //
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inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
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{
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bgc_fp32_quaternion_revert(&quaternion->real_part);
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bgc_fp32_quaternion_revert(&quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
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{
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bgc_fp64_quaternion_revert(&quaternion->real_part);
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bgc_fp64_quaternion_revert(&quaternion->dual_part);
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}
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// ================ Get Reverse ================= //
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inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
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{
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bgc_fp32_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
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bgc_fp32_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
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{
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bgc_fp64_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
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bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
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}
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// ==================== Add ===================== //
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inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
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@ -102,30 +130,170 @@ inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* differenc
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bgc_fp64_quaternion_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
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}
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// ================== Multiply ================== //
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// ============== Subtract Scaled =============== //
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inline void bgc_fp32_dual_quaternion_multiply_by_real(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
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inline void bgc_fp32_dual_quaternion_subtract_scaled(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
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{
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bgc_fp32_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multipier);
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bgc_fp32_quaternion_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multipier);
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bgc_fp32_quaternion_subtract_scaled(&difference->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
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bgc_fp32_quaternion_subtract_scaled(&difference->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
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}
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inline void bgc_fp64_dual_quaternion_multiply_by_real(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
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inline void bgc_fp64_dual_quaternion_subtract_scaled(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
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{
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bgc_fp64_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multipier);
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bgc_fp64_quaternion_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multipier);
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bgc_fp64_quaternion_subtract_scaled(&difference->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
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bgc_fp64_quaternion_subtract_scaled(&difference->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
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}
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// ================== Multiply ================== //
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inline void bgc_fp32_dual_quaternion_multiply_by_real(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multiplier)
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{
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bgc_fp32_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier);
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bgc_fp32_quaternion_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multiplier);
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}
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inline void bgc_fp64_dual_quaternion_multiply_by_real(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multiplier)
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{
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bgc_fp64_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier);
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bgc_fp64_quaternion_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multiplier);
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}
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// ========== Multiply by Dual Number =========== //
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inline void bgc_fp32_dual_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier)
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{
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BGC_FP32_Quaternion dual_part;
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bgc_fp32_quaternion_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier->real_part);
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bgc_fp32_quaternion_add_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier->dual_part);
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bgc_fp32_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier->real_part);
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bgc_fp32_quaternion_copy(&product->dual_part, &dual_part);
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}
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inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier)
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{
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BGC_FP64_Quaternion dual_part;
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bgc_fp64_quaternion_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier->real_part);
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bgc_fp64_quaternion_add_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier->dual_part);
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bgc_fp64_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier->real_part);
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bgc_fp64_quaternion_copy(&product->dual_part, &dual_part);
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}
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// ===== Multiply by Conjugate Dual Number ====== //
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inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier_to_conjugate)
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{
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BGC_FP32_Quaternion dual_part;
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bgc_fp32_quaternion_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
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bgc_fp32_quaternion_subtract_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier_to_conjugate->dual_part);
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bgc_fp32_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
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bgc_fp32_quaternion_copy(&product->dual_part, &dual_part);
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}
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inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier_to_conjugate)
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{
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BGC_FP64_Quaternion dual_part;
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bgc_fp64_quaternion_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
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bgc_fp64_quaternion_subtract_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier_to_conjugate->dual_part);
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bgc_fp64_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
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bgc_fp64_quaternion_copy(&product->dual_part, &dual_part);
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}
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// =================== Divide =================== //
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inline void bgc_fp32_dual_quaternion_divide_by_real(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
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inline int bgc_fp32_dual_quaternion_divide_by_real(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const float divisor)
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{
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bgc_fp32_dual_quaternion_multiply_by_real(quotient, divident, 1.0f / divisor);
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if (bgc_fp32_is_zero(divisor)) {
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return BGC_FAILURE;
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}
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const float multiplier = 1.0f / divisor;
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bgc_fp32_quaternion_multiply_by_real("ient->real_part, ÷nd->real_part, multiplier);
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bgc_fp32_quaternion_multiply_by_real("ient->dual_part, ÷nd->dual_part, multiplier);
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return BGC_SUCCESS;
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}
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inline void bgc_fp64_dual_quaternion_divide_by_real(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
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inline int bgc_fp64_dual_quaternion_divide_by_real(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const double divisor)
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{
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bgc_fp64_dual_quaternion_multiply_by_real(quotient, divident, 1.0 / divisor);
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if (bgc_fp64_is_zero(divisor)) {
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return BGC_FAILURE;
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}
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const double multiplier = 1.0 / divisor;
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bgc_fp64_quaternion_multiply_by_real("ient->real_part, ÷nd->real_part, multiplier);
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bgc_fp64_quaternion_multiply_by_real("ient->dual_part, ÷nd->dual_part, multiplier);
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return BGC_SUCCESS;
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}
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// =========== Divide by Dual Number ============ //
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inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor)
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{
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const float square_modulus = divisor->real_part * divisor->real_part;
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp32_dual_quaternion_multiply_by_conjugate_number(quotient, dividend, divisor);
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bgc_fp32_dual_quaternion_multiply_by_real(quotient, quotient, 1.0f / square_modulus);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor)
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{
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const double square_modulus = divisor->real_part * divisor->real_part;
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp64_dual_quaternion_multiply_by_conjugate_number(quotient, dividend, divisor);
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bgc_fp64_dual_quaternion_multiply_by_real(quotient, quotient, 1.0 / square_modulus);
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return BGC_SUCCESS;
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}
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// ====== Divide by Conjugate Dual Number ======= //
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inline int bgc_fp32_dual_quaternion_divide_by_conjugate_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate)
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{
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const float square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp32_dual_quaternion_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
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bgc_fp32_dual_quaternion_multiply_by_real(quotient, quotient, 1.0f / square_modulus);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_divide_by_conjugate_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate)
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{
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const double square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp64_dual_quaternion_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
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bgc_fp64_dual_quaternion_multiply_by_real(quotient, quotient, 1.0 / square_modulus);
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return BGC_SUCCESS;
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}
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// ================ Mean of Two ================= //
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@ -170,32 +338,4 @@ inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interp
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bgc_fp64_quaternion_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);
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}
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// =================== Revert =================== //
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inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
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{
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bgc_fp32_quaternion_revert(&quaternion->real_part);
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bgc_fp32_quaternion_revert(&quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
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{
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bgc_fp64_quaternion_revert(&quaternion->real_part);
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bgc_fp64_quaternion_revert(&quaternion->dual_part);
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}
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// ================ Get Reverse ================= //
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inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
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{
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bgc_fp32_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
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bgc_fp32_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
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{
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bgc_fp64_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
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bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
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}
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#endif
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